Zathura is a lightweight and fast document viewer, to be used mainly with the keyboard, with keyboard shortcuts similar to vim (text editor).
Ranked in these QuestionsQuestion Ranking
Zathura is fast and can open a pdf file almost instantly.
Pro Vim bindings
You can browse files via keyboard, using keyboard commands similar to vim (text editor).
Pro Clean interface
Inferface is clean and shows only a small statusbar.